3D MOTION ESTIMATION DEVICE, 3D MOTION ESTIMATION METHOD, AND PROGRAM

摘要

The 3d motion estimation device (100) includes a 2d image correspondences finding unit (101) and a 3d motion optimization unit (102). The 2d image correspondence finding unit (101) finds dense 2d correspondence between subsequent frames, and outputs the pixel-wise 2d motion between the images. The 3D motion optimization unit optimizes (102) the pixel-wise 2d motion error using a single point depth (201) which is observed in single frame to obtain accurate real world 3d motion, and computes the 3d real world motion of the object by optimizing pixel-wise 2d motion error.